
#define fiducial ranger
#(
#  # fiducial properties
#  range_min 0.0
#  range_max 8.0
#  range_max_id 5.0
#  fov 3.14159
#  ignore_zloc 0
#
#  # model properties
#  size [ 0.1 0.1 0.1 ]
#)




define plane position
(
	# size [0.5 0.5 1]

	# origin [2.5 2 0 0]
	drive "diff"		 	# Differential steering model.
	gui_nose 1                  	# Draw a nose on the robot so we can see which way it points
	obstacle_return 1           	# Can hit things.
	ranger_return 0.5            	# reflects sonar beams
	blob_return 1               	# Seen by blobfinders  
	fiducial_return 1           	# Seen as "1" fiducial finders
	localization "gps"

	# the shape of the plane
	block( 
		points 13
		point[0] [0 1]
		point[1] [0 3]
		point[2] [1 2.25]
		point[3] [2.5 2.25]
		point[4] [2 4]
		point[5] [3 2.25]
		point[6] [4 2.25]
		point[7] [4.1 2]
		point[8] [4 1.75]
		point[9] [3 1.75]
		point[10] [2 0]
		point[11] [2.5 1.75]
		point[12] [1 1.75]
	)

#	fiducial( pose [0 0 0 0] )
	fiducial
	(
	  # fiducial properties
	  range_min 0.0
	  range_max 8.0
	  range_max_id 100
	  fov 180 #3.14159
	  ignore_zloc 1
	  alwayson 1

	  # model properties
	  size [ 0.1 0.1 0.1 ]
	)
)

